Camera-Based 6-DoF Pose Refinement With One-Dimensional Range Data

The patent extracts and utilizes only the essential one-dimensional distance measurement information from the scene, rather than processing complete three-dimensional depth maps or multiple two-dimensional measurements. By taking out only the critical distance data needed for refinement, the system achieves pose estimate improvement without the computational burden of processing full depth maps or numerous measurements.

The patent transitions from processing two-dimensional image data to incorporating one-dimensional distance measurements, using a different dimensional approach to achieve pose refinement. This dimensionality change allows the system to gain depth information efficiently without requiring complex three-dimensional depth maps, thereby reducing processing requirements while maintaining measurement precision.

The patent replaces the mechanical laser range finder system with an optical-based approach using a camera and image processing. Instead of relying on mechanically manufactured moving parts in a laser range finder, the system uses optical measurements and computational methods to achieve distance measurement, thereby eliminating the need for precisely manufactured mechanical components and reducing system cost.

The patent uses a camera to capture optical images of the scene, creating a visual copy of the environment. This optical copy is then processed to extract distance information, replacing the need for direct mechanical measurement. The copying approach allows distance measurement to be derived from visual data rather than requiring expensive mechanical ranging devices.

The patent enables the system to perform self-calibration and self-registration without requiring external calibration patterns or correspondence markers. The system uses the scene itself and the available image data to automatically register and align measurements, making the calibration process self-service rather than requiring additional specialized equipment or patterns.

The patent creates a system that can handle both calibration and measurement functions using the same camera and image processing pipeline. Rather than requiring separate calibration patterns and measurement devices, the system uses the camera for multiple purposes including scene capture, feature detection, and distance measurement, thereby eliminating the need for specialized calibration equipment.